/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_

#include <memory>
#include <vector>

#include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping/2d/grid_2d.h"
#include "cartographer/mapping/proto/scan_matching/ceres_scan_matcher_options_2d.pb.h"
#include "cartographer/sensor/point_cloud.h"
#include "ceres/ceres.h"

namespace cartographer
{
	namespace mapping
	{
		namespace scan_matching
		{

			proto::CeresScanMatcherOptions2D CreateCeresScanMatcherOptions2D(
				common::LuaParameterDictionary *parameter_dictionary);

			// Align scans with an existing map using Ceres.
			class CeresScanMatcher2D
			{
			public:
				explicit CeresScanMatcher2D(const proto::CeresScanMatcherOptions2D &options);
				virtual ~CeresScanMatcher2D();

				CeresScanMatcher2D(const CeresScanMatcher2D &) = delete;
				CeresScanMatcher2D &operator=(const CeresScanMatcher2D &) = delete;

				// Aligns 'point_cloud' within the 'grid' given an
				// 'initial_pose_estimate' and returns a 'pose_estimate' and the solver
				// 'summary'.
				void Match(const Eigen::Vector2d &target_translation,
						   const transform::Rigid2d &initial_pose_estimate,
						   const sensor::PointCloud &point_cloud, const Grid2D &grid,
						   transform::Rigid2d *pose_estimate,
						   ceres::Solver::Summary *summary) const;

			private:
				const proto::CeresScanMatcherOptions2D options_;
				ceres::Solver::Options ceres_solver_options_;
			};

		} // namespace scan_matching
	}	  // namespace mapping
} // namespace cartographer

#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
